2026
Accounting for the Interaction Between a Dummy Finger and Joint Modular Soft Actuators for Multi-Joint Support Using a Novel FEM-Based Approach
Pablo Enrique Tortós Vinocour, Shota Kokubu, Fuko Matsunaga, Yuxi Lu, Zhongchao Zhou, Naoki Kamijo +3
RA-L 2026
Soft actuators are safer than rigid robots for hand rehabilitation, yet their performance can be significantly affected by interactions that occur on multi-joint systems. Actuator–finger and actuator–actuator interactions can impact bending output and make actuator performance dependent on the actua